Even the most "expo" rig will spend significant amount of time in cities. Either transiting them, looking for supplies etc. Parking in a standard spot is sort of a benchmark. But the shorter wheelbase (and/or overall length) means U turns, tight access camping spots, etc, are all available. It's also somewhat obvious that you have some disdain for people that visit "malls" (sacrifice perceived off road toughness/capability). Many travelers split their time between things that interest them. If you are full-timing you will inevitably need to visit cities for many reasons. To visit family, to see the many interesting and fun things that are not available in the remote places. Hell, just being able to drop into town to see a movie, or have a meal with a friend is important to many. Being able to do so without hunting for parking, or needing to park and ride is a big stress reducer.
There is a reason that the majority of live-aboard type vehicles built for long term travel use cab-over or van style chassis. There is a significant improvement in living space for the same footprint. The long hood favored by american pickup trucks isn't a free lunch, so to speak. They inevitably have much less usable cabin space than the OPs build.
Having the ability to walk through to the cab, and in the case of single cab van style, use the cab as living space is a big plus (swivel seats).
All that being said, there is advantages to a drop in style truck-bed camper. They are easier to remove when not needed, and can be fitted to a vehicle you already own, and can be purchased in a wide variety of sizes, weights, and options.